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Fixed tf2_eigen missing from package.xml. Added "qos" parameter for all nodes subscribing to sensor data (#651).

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matlabbe
2021-11-08 18:36:19 -05:00
parent c94d3a6a92
commit b606a54f45
38 changed files with 472 additions and 329 deletions
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include/rtabmap_ros/OdometryROS.h
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@@ -82,6 +82,7 @@ protected:
void init(bool stereoParams, bool visParams, bool icpParams);
void startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync);
void callbackCalled() {callbackCalled_ = true;}
rmw_qos_reliability_policy_t qos() const {return qos_;}
virtual void flushCallbacks() {};
tf2_ros::Buffer & tfBuffer() {return *tfBuffer_;}
@@ -115,6 +116,7 @@ private:
bool publishTf_;
double waitForTransform_;
bool publishNullWhenLost_;
rmw_qos_reliability_policy_t qos_;
rtabmap::ParametersMap parameters_;
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odomPub_;